System and Method for Aligning and Pairing a Charging Station to an Electric Vehicle

ABSTRACT

A system and method are disclosed for strategically positioning and aligning an object, for example, a vehicle at a charging station, parking station, port, depot or dock for orientation, alignment and pairing. The system includes an active-alignment module that measures the three-dimensional orientation of the object within the particular working envelope of the charging station and provides it to a supervisory-control module, which synchronizes the three-dimensional planar data, for example, plane 1 or plane 3 with planar data of the object, for example, plane 2 or plane 4, a robot-assisted-alignment module, and a vehicle-control module. The supervisory-control module acquires and synchronizes the 3D planar data of the active-alignment module (plane 1 or 3) to the planar data of vehicle or object (plane 2 or 4).

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of and claims priority toU.S. application Ser. No. 17/505,281, titled “System and Method forObject Alignment and Pairing,” filed Oct. 19, 2021, the entire contentsof which are hereby incorporated by reference.

BACKGROUND 1. Field of the Invention

The present invention relates to systems and methods for chargingelectrical objects such as electrical vehicles. More particularly, thepresent invention relates to an intelligent system and method forstrategically positioning and orienting an object or a vehicle at acharging station, parking station, port, depot or dock for orientation,alignment, and pairing. The system includes a novel interface with anactive-alignment module that measures the three-dimensional orientationof the object within a working range of automated actions within thecharging station regardless of adverse weather conditions.

2. Description of the Related Art

Global growth of electrical objects, for example, electric vehicles, ison the rise. Electric vehicles are projected to replace vehicles poweredby internal combustion engines over the next few decades. Typically, anelectric vehicle requires frequent charging at charging stations toprovide power for operation. During charging, energy storage systems,for example batteries, in the electric vehicle, receive and store power,which is consumed as the electric vehicle operates. This stored power inthe energy storage system of the electric vehicle enables it e tooperate until the charge is depleted and further charging is required.In some applications, (e.g., electric transit buses) charging stationsmay be provided along a route, and an electric vehicle may dock with andcharge its batteries periodically during its normal operation.

Typically, the driver or operator of the electric vehicle, for example,a bus, truck, or car, must visually align it with the charging station(e.g., by using a line painted on the ground) so that the electricvehicle is suitably positioned to engage with the charging station.During charging, electrodes on the electric vehicle electrically connectwith electrodes of the charging station to transfer power to thebatteries of the electric vehicle. In some operating conditions however,particularly, in harsh or adverse weather conditions, dust particles(debris), snow, and ice, on the ground or in the air make visualalignment difficult. For example, debris, snow or ice can detrimentallyaffect the ability of the driver to visually see and align the electricvehicle to the charging station and thus hinder charging.

There is a continuing and dire need in the industry for improvedcharging interface mechanisms designed to automatically facilitate easyalignment and pairing of electric objects or vehicles regardless of anyadverse or inclement weather conditions.

SUMMARY

The present technology overcomes the deficiencies and limitations ofprior systems and methods, at least in part by, providing systems andmethods for using three-dimensional positioning and orienting mechanismsto properly align an object, for example, an electric vehicle at acharging station, port, dock, or the like. For example, the systems andmethods of the current disclosure may be used to align a vehicle withina “working envelope” of the present alignment-and-pairing system. Itshould be recognized by those skilled in the art that a “workingenvelope” refers to a range of movement within the charging environment.The charging interface is configured to perform only within the confinesof this “working envelope.”

In some embodiments, the charging station may be configured to beportable or movable to other remote locations, special events, anddepots, for charging vehicles to address high traffic requirements oremergencies. The charging station may be configured on a trailer or withwheels. This enables electric vehicles to go anywhere and work anywhere.In some embodiments, portable charging stations enables a flexibleinfrastructure, accommodating mobile charging stations or units. Thesemay be dispatched to areas of disaster or roadside assistance with ease.

In accordance with some embodiments of the present disclosure thesystems and methods described here align any electric vehicle (e.g.,car, bus, truck, etc.) at a charging station. The systems and methods ofthe present invention may be used to assist in aligning any type ofvehicle (trains, cars, planes, etc.) for any purpose using the presentconfiguration. Each of the embodiments disclosed herein may include oneor more of the features described in connection with any of the otherdisclosed embodiments. In one embodiment, the method covers driving theelectric vehicle towards the charging station to enter the “workingenvelope.”

In some embodiments, the system and methods in accordance with thepresent invention serve as an alignment-and-pairing system (“APS”),which is an intelligent three-dimensional orientation interface thatuses sensor technologies to properly position the electric vehicle in adefined space. For example, the sensor technologies utilized by thepresent system include radar sensors strategically positioned near thecharging interface.

In some embodiments, the alignment-and-pairing system (“APS”) comprisesan active-alignment module (“AAM”), a supervisory-control module(“SCM”), a robot-assisted-alignment module, and a vehicle-control module(or an object-control module). The alignment-and-pairing system arestrategically positioned within the working envelop of a chargingstation, parking station, port, depot or dock where object orientation,alignment and/or pairing is required. The active-alignment module isconfigured to serve as a precision platform that acts as athree-dimensional planar datum to objects in the world or space. Theactive-alignment module utilizes sensors such as radar sensors to detectand to measure the three-dimensional planarity or orientation of anobject or a vehicle that is moving or stationary within the specifiedworking envelop or active range.

In some embodiments, the supervisory-control module (“SCM”) isconfigured to acquire and synchronize the three-dimensional planar datareceived from the active-alignment module (Plane 1 or 3) to the planardata of the vehicle or object (Plane 2 or 4). The alignment-and-pairingsystem (“APS”) may apply to any number of planes. It should berecognized by those skilled in the art that planar acquisition may beany number of planes and not limited to four as illustrated here.

In some embodiments of the present invention, the supervisory-controlmodule (“SCM”) is configured to perform specialized functions oroperations with the objects or vehicles with which it is pairedelectrically and/or mechanically. The supervisory-control module (“SCM”)performs key functions, including, but not limited to, the functionsdetailed here. In some embodiments, the supervisory-control module(“SCM”) calculates approximate positioning, for example, a maximumspecified positional offset of a vehicle relative to the location orposition of the active-alignment module components within the “workingenvelope” and feeds this offset to the vehicle-control module to makereal-time adjustments, either though electronic or visual commands. Oncethe vehicle or object is within its specified position, thesupervisory-control module (“SCM”) issues a “park,” “rest,” or othersuch command. Alternatively, the supervisory-control module (“SCM”)suggests a driving pattern or navigational instructions for the driveror operator to follow to align the electric vehicle at the chargingstation. The navigational instructions to the driver of the vehicle maybe based on the positional offsets determined.

In some embodiments, the supervisory-control module (“SCM”) calculatesand sends the final or absolute offsets of the stationary object orvehicle to a robot or robotic interface. The robot is configured toalign its planar datums to the planar datums of the object or vehicle.In some instances, the co-planar geometries and tolerances areconfigured to be adjustable based on specific requirements andcircumstances specified by operators or others. Once thethree-dimensional (“3D”) coplanar positions are realized, the robot orrobotic interface in communication with supervisory-control modules(“SCM”) sends a command indicative of “cycle complete.” This commandsignals a prompt to the supervisory-control module (“SCM”) to initiatethe next sequence, which may be to initiate pairing or that the docksequence is complete.

In yet other embodiments, the supervisory-control module (“SCM”)continuously poles the active-alignment module (“AAM”), which monitorsin “real time” that the coplanarity actively sends positional data tothe supervisory-controller robot for on-the-fly adjustment.

In yet other embodiments, the system in accordance with the presentinvention integrates and monitors the vehicle or object functions suchas communications, inputs and outputs and other pertinent systems thatare dependent on the relationship.

The system and methods disclosed are advantageous in a number ofrespects. The system and methods provide measurement of multiplethree-dimensional planes, which can reference relative position andtrack lateral and elevational changes between two or more targetsdynamically and continuously. The alignment-and-pairing system (“APS”)uses sensor technology, by which its use is immune to weatherconditions. This system may be safely used anywhere. In addition, thepresent invention and its automated technology is well suited to handlehigh power charging while providing safety to humans and safeguardingequipment.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is illustrated by way of example, and not by wayof limitation in the figures of the accompanying drawings in which likereference numerals are used to refer to the same or similar elements.

FIG. 1 is a high-level block diagram, illustrating an examplealignment-and-pairing system (“APS”) in accordance with the presentinvention.

FIG. 2A is a block diagram illustrating example components of thealignment-and-pairing system in accordance with the present invention.

FIG. 2B is a block diagram illustrating the way by which a dynamicalignment/sensor program is provided via an application-programminginterface to users.

FIG. 3 is a flow chart illustrating one embodiment of the method ofalignment and pairing in accordance with the present invention.

FIG. 4 is a flow chart illustrating one embodiment of the alignment andpairing method used for charging an electronic object such as a vehicle.

FIG. 5 is a flow chart illustrating a method that identifies a vehiclewithin a working envelope, positions it, connects the charging interfaceand initiates and completes charging of the electric vehicle.

FIG. 6 is a flow chart illustrating the steps involved in positioningand adjusting the object/vehicle within the charging envelope beforecharging.

FIG. 7 is a flow chart illustrating the additional steps involved inpositioning and aligning the object/vehicle within the charging envelopebefore charging.

DETAILED DESCRIPTION

The system and methods of this technology are configured for aligningand pairing an object such as an electronic vehicle for coupling it to acharging interface for charging. The aligning-and-pairing system (“APS”)and methods in accordance with the present invention provide measurementof multiple three-dimensional planes, which reference relative positionand track lateral and elevational changes between two or more targetsdynamically and continuously. The system uses radar sensor technology,by which it is immune to inclement weather conditions, debris on theground or any factor that impairs visual perception required to positionthe object or vehicle in a desired location.

In the following description, for purposes of explanation, numerousspecific details are set forth in order to provide a thoroughunderstanding of this technology. It will be apparent, however, thatthis technology can be practiced without some of these specific details.In other instances, structures and devices are shown in block diagramform in order to avoid obscuring the innovative aspects. For example,the present technology is described in some implementations below withreference to particular hardware and software.

Reference in the specification to “one implementation or embodiment” or“an implementation or embodiment” simply means that a particularfeature, structure, or characteristic described in connection with theimplementation or embodiment is included in at least one implementationor embodiment of the technology described. The appearances of the phrase“in one implementation or embodiment” in various places in thespecification are not necessarily all referring to the sameimplementation or embodiment.

Referring now to FIG. 1 , the alignment-and-pairing (“APS”) system 100in accordance with the present invention is illustrated in an exampleEV-charging station infrastructure. The alignment-and-pairing system 100is strategically positioned within the working envelop of a chargingstation, parking station, port, depot or dock where object orientation,alignment and/or pairing is required. FIG. 1 illustrates by way ofexample, a medium delivery truck 102 positioned for receiving power atthe EV-charging station. For example, the truck drives into the workingenvelope such that its side surface is aligned substantially parallel toa plane (e.g., 3D plane 2 in FIG. 1 ). Alternatively, any other vehicleor object may be positioned in the charging area illustrated. Thevehicle typically has a charging receptacle 104 as illustrated in themedium delivery truck 102. The charging receptacle is typicallypositioned on the roof of the vehicle and a charge is received bylowering the charging interface on the roof.

As is known to those skilled in the art, for charging electric vehicles(“EV”), the EV-charging station comprises components including anelectric-vehicle charger (e.g., see charging plug 110 illustrated inFIG. 1 ), a power grid, a facility meter, an energy controller, asoftware platform, a network-operating center, and other relevantcomponents. The power storage system at EV-charging stations typicallyincludes three main units, typically, a battery, a power-conversionsystem, and software. The batteries may be lithium-ion batteries,typically consisting of cells, packs, battery-management systems (“BMS”)to manage control of the charge and discharge of the battery. TheEV-charging station also typically has a power-conversion system, whichcomprises an inverter, its enclosure, and thermal management (HVAC) forbatteries to maintain the battery at a specific temperature. TheEV-charging station also has electric-vehicle charging software as anintegral part of EV-charging infrastructure. The software may havecharge point operators and e-mobility service providers to manageEV-charging stations and their customers or users. EV-charging software,web-based or mobile-based, assists in managing the EV chargers atcharging stations. Some key features of the EV-charging software includefunctions to connect and monitor the charger, automatic fault detection,live meter display, billing and payments, tracking of costs, managingusers, interactive dashboard and more. Newer charging stations useimproved technologies in which electric vehicle batteries may be chargedfor a driving range of hundred kilometers in just three to five minutes.Such systems of e-mobility make electric vehicle charging at EV chargingstations suitable for everyday use and more. For example, chargingelectric vehicles with 500 amps at a fast-charging station with highpower charging technology is becoming common.

In some embodiments, charging station may be configured to be portableor movable to other remote locations, special events, and depots, forcharging vehicles to address high traffic requirements or emergencies.The mobile charging station is an alternative to the stationary chargingstation and may be configured on a trailer or with wheels or in amotorized vehicle. The ability to charge an electric vehicle at anylocation, enables electric vehicles to go anywhere and work anywhere. Insome embodiments, a fleet of portable charging stations enables aflexible infrastructure, accommodating mobile charging stations orunits. These may be dispatched to areas of disaster or roadsideassistance with ease. The flexible infrastructure is configured witheach mobile charging station communicating with a central unit via atransceiver and receiver to report location. The central unit maycommunicate a single or a sequence of locations at which the mobilecharging station should locate itself. In some embodiments. Thisflexible infrastructure of mobile charging stations is easily controlledby a central system that meters the micro charging activity of eachmobile charging unit and the associated costs.

For the mobile charging stations, the alignment-and-pairing system 100of the portable EV-charging system, comprises the power storage systemincluding a battery, a power-conversion system, and software. Thebatteries may be lithium-ion batteries, typically consisting of cells,packs, battery-management systems (“BMS”) to manage control of thecharge and discharge of the battery. The EV-charging station has apower-conversion system, which comprises an inverter, its enclosure, andthermal management (HVAC) for batteries to maintain the battery at aspecific temperature. The EV-charging station also has electric-vehiclecharging software as an integral part of EV-charging infrastructure. Thesoftware may have charge point operators and e-mobility serviceproviders to manage the flexible and portable EV-charging stations andtheir customers or users. EV-charging software, web-based ormobile-based, assists in managing the EV chargers at charging stations.Some key features of the EV-charging software include functions toconnect and monitor each portable EV-charger, automatic fault detectionin any or the communication system, live meter display, billing andpayments, tracking of costs, managing users, interactive dashboard andmore. Newer charging stations use improved technologies in whichelectric vehicle batteries may be charged for a driving range of hundredkilometers in just three to five minutes. Such systems of e-mobilitymake electric vehicle charging at EV charging stations suitable foreveryday use and more. For example, charging electric vehicles with 500amps at a fast-charging station with high power charging technology maybe used.

FIG. 1 illustrates alignment of three-dimensional (“3D”) planes by thealignment-and-pairing (“APS”) system 100. The measurement of multiplethree-dimensional planes may reference relative position and tracklateral and elevational changes between two or more targets dynamically.Sensor technology is used to make this tracking immune to weatherconditions. As illustrated, sensors 112 are located at strategicpositions to provide measurements of multiple three-dimensional planes.Example three-dimensional planes include a “3D Plane 1,” a “3D Plane 2,”a “3D Plane 3,” and a “3D Plane 4.” The “3D Plane 1” is indicated in thedrawings by reference numeral 114. The “3D Plane 2” is indicated in thedrawings by reference numeral 116. The “3D Plane 3” is indicated in thedrawings by reference numeral 106. The “3D Plane 4” is indicated in thedrawings by reference numeral 108. The alignment-and-pairing (“APS”)system 100 is configured to assist any vehicle or object such as thetruck 102 to properly position and orient itself to receive charge atthe EV-charging station, via the charging pins.

Referring now to FIG. 2A, the alignment-and-pairing system 100 includesvarious modules and components illustrated collectively and referencedby reference numeral 200. The alignment-and-pairing system 100 comprisesan active-alignment module (“AAM”) 202, a supervisory-control module(“SCM”) 206, a robot-assisted-alignment module 208, and avehicle-control module 210.

The active-alignment module 202 is a precision platform with software ora program with computer instructions stored in an executable file toexecute functions by a computer that provide three-dimensional planardatum to objects in the world or space. As should be recognized by thoseskilled in the art, datum reference frames (in geometric dimensioning)are typically 3D. Datum reference frames are used as part of the featurecontrol frame to show where the measurements are taken from and may beused to determine the geometry of any object. For example, a typicaldatum reference frame is made up of three planes. The three planes maybe one “face side” and two “datum edges.” These three planes in thedatum reference frame may be marked as desired, for example, A, B and C,where A is the face side, B is the first datum edge, and C is the seconddatum edge. In this example, the datum reference frame is A/B/C, whichmay be shown at the end of feature control frame to show from where themeasurement is taken. Any important part of an object may be used, forexample, a point, line, plane, hole, set of holes, or pair of s, toserve as a reference in defining the geometry of the object.

The executable file may be linked to static or dynamic-linked libraries.The active-alignment module 202 utilizes 3D sensors 204 such as radarsensors to detect and measure the three-dimensional planarity(orientation) of an object or vehicle that is moving or is stationarywithin the specified working envelop. It should be recognized by thoseskilled in the art that a robot's “working envelope” is its range ofmovement or the space within which it can reach. It is the shape createdwhen a manipulator reaches forward, backward, up and down. Thesedistances are determined by the length of a robot's arm and the designof its axes. Each axis contributes its own range of motion. The radarsensors serve as conversion devices that transform microwave echosignals into electrical signals. They use wireless sensing technology todetect motion by figuring out the vehicle's position, shape, motioncharacteristics, and motion trajectory.

The supervisory-control module (“SCM”) 206 acquires the 3D planar data(in Planes 1 or 3) from the active-alignment module 202 and synchronizesthe acquired 3D planar data with the planar data of the vehicle orobject (in Planes 2 or 4). Planar acquisition may be, by using anynumber of planes and not limited to four, as illustrated here. It shouldbe recognized by those skilled in the art, that four planes are usedhere simply for illustration purposes. More planes may be used to gathermore data if desired and for different circumstances. Thesupervisory-control module (“SCM”) 206 performs specialized functionswith the objects or vehicle with which it is paired either electricallyor mechanically. For electrical charging, an electric vehicle with achargeable/dischargeable power storage is charged by an external powersupply, by securing a control device that controls the external powersupply.

The robot-assisted-alignment module 208 in some embodiments includes arobot configured to verify object placement, which aligns the localcharging interface to the vehicle receptacle interface. Thealignment-and-pairing system 100 further includes a vehicle-controlmodule 210, which is configured to make any real-time adjustments orcorrections based on evaluating the positional offset data.

The various modules and components illustrated collectively andreferenced by reference numeral 200 in addition include other hardwarecomponents that perform the functions described. Thealignment-and-pairing system 100 includes a computer/process 214 coupledby a bus to an input/output (I/O) interface 212, which is coupled to amemory 216, a data storage 218, and a network interface/adapter 220.

The present technology also relates to an apparatus for performing theoperations described. This apparatus may be specially constructed forthe required purposes, or it may comprise a general-purpose computerselectively activated or reconfigured by a computer program stored inthe computer. Such a computer program may be stored in a computerreadable storage medium, such as, but is not limited to, any type ofdisk including floppy disks, optical disks, CD ROMs, and magnetic disks,read-only memories (ROMs), random access memories (RAMs), EPROMs,EEPROMs, magnetic or optical cards, flash memories including USB keyswith non-volatile memory or any type of media suitable for storingelectronic instructions, each coupled to a computer system bus.

Components of the present technology can take the form of an entirelyhardware embodiment, an entirely software embodiment or animplementation containing both hardware and software elements. In someimplementations, this technology is implemented in software, whichincludes but is not limited to, firmware, resident software, microcode,etc. Furthermore, this technology can take the form of a computerprogram product accessible from a computer-usable or computer-readablemedium providing program code for use by or in connection with acomputer or any instruction execution system. For the purposes of thisdescription, a computer-usable or computer readable medium can be anyapparatus that can contain, store, communicate, propagate, or transportthe program for use by or in connection with the instruction executionsystem, apparatus, or device.

The computer or data processing system 214 is suitable for storingand/or executing program or executable code includes at least oneprocessor coupled directly or indirectly to memory elements through thesystem bus. The memory elements can include local memory 216 employedduring actual execution of the program code, bulk storage, and cachememories, which provide temporary storage of at least some program codein order to reduce the number of times, code must be retrieved from bulkstorage (data storage 218) during execution. Input/output or I/O devices(including but not limited to, keyboards, displays, pointing devices,etc.) can be coupled to the system either directly or throughintervening I/O controllers.

Network interface or adapter 220 or such network interface units areillustrated coupled to the system to enable the data processing system214 to become coupled to other data processing systems or remoteprinters or storage devices through intervening private or publicnetworks. A network interface may be a network interface controller, anetwork interface card, a network adapter or any such hardware componentthat is designed to allow computers to access an interconnection networkfor communication and synchronization purposes. The network interface isconfigured to provide two different kinds of interfaces, one toward thecomputer (host) side and one toward the network side. The networkinterface translates the protocol of the host interface to the networkprotocol and vice versa, and translates between the different physicalmedia. In a network, network interfaces are the end points of thenetwork. At these end points, the network packets are injected into,respectively, or retrieved from the network. As all end points of anetwork must be uniquely addressable, each network interface is assigneda unique number. Modems, cable modem, and ethernet cards are just a fewof the currently available types of network adapters. For example, thenetwork adaptor may be a network interface module coupled to a networkby a signal line and a bus as illustrated. The network interface modulemay include ports for wired connectivity such as but not limited to USB,SD, or CAT-5, etc. The network interface module may link the processor214 to a network that may in turn be coupled to other processingsystems. The network may comprise a local area network (LAN), a widearea network (WAN) (e.g., the Internet), and/or any other interconnecteddata path across which multiple devices may communicate. The networkinterface module may provide other conventional connections to thenetwork using standard network protocols such as TCP/IP, HTTP, HTTPS andSMTP as will be understood to those skilled in the art. In otherembodiments, the network interface module may include a transceiver forsending and receiving signals using WIFI, Bluetooth® or cellularcommunications for wireless communication.

Finally, the algorithms and displays presented here are not inherentlyrelated to any particular computer or other apparatus. Variousgeneral-purpose systems may be used with programs in accordance with theteachings herein, or it may prove convenient to construct morespecialized apparatuses to perform the required method steps. Therequired structure for a variety of these systems will appear from thedescription below. In addition, the present invention is not describedwith reference to any particular programming language. It will beappreciated that a variety of programming languages may be used toimplement the teachings of the invention as described herein.

Each computer 214 in the system may include one or more input and output(I/O) unit 212, a memory system 216, and one or more processing units.The “I/O” units of each computer 214 may be connected to variousinput/output devices 212, such as a mouse, keyboard, video card (videomonitor), sound card (with speakers), network card, and printer. Thememory system 216 in a typical general purpose computer system usuallyincludes a computer readable and writeable nonvolatile recording medium,of which a magnetic disk, a flash memory and tape are examples. Thememory system 218 operably holds the operating system, utilities, andapplication programs. It should also be understood the invention is notlimited to the particular input devices, output devices, or memorysystems used in combination with the computer system or to thosedescribed herein. Nor should the invention be limited to any particularcomputer platform, processor, or high-level programming language.

The computer/processor 214 processes data signals and programinstructions received from the memory 216. For example, the processor214 may comprise an arithmetic logic unit, a microprocessor, ageneral-purpose controller or some other processor array programmed inaccordance with the present invention to perform computations andprovide electronic display signals to the display 222. The processor 214is coupled to the bus for communication with the other components.Processor 214 processes data signals and may comprise various computingarchitectures including a complex instruction set computer (CISC)architecture, a reduced instruction set computer (RISC) architecture, oran architecture implementing a combination of instruction sets. Althoughonly a single processor is shown in FIG. 2A, multiple processors may beincluded. It will be obvious to one skilled in the art that otherprocessors, operating systems, sensors, displays and physicalconfigurations are possible.

The memory 216 is non-transitory storage medium. The memory 216 storesthe instructions and/or data which may be executed by thecomputer/processor 214. In some embodiments, the instructions and/ordata stored on the memory 204 comprises code for performing any and/orall of the techniques described herein. The memory 204 may be a dynamicrandom-access memory (DRAM) device, a static random-access memory (SRAM)device, flash memory or some other memory device known in the art. Thememory 216 may store a web browser with the JavaScript for conductingany functions that require access to remote networks or libraries. Insome embodiments, the cache memory 216 is coupled to the processor 214.The cache memory 216 is a random-access memory (RAM) that the processor214 may access more quickly than it can access regular RAM. This cachememory 216 is typically integrated directly with the processor chip ormay be on a separate chip that has a separate bus interconnect with theprocessor 214. The cache memory 216 is used to reduce the average timeto access data from the main memory or data storage 218. The cache is asmaller and faster memory, which stores the program instructions thatare frequently referenced by the software during operation. Fast accessto these instructions increases the overall speed of the softwareprogram. In operation, as the processor 214 processes data, it looksfirst in the cache memory 216 for instructions and if it finds theinstructions there (from a previous reading of the data), it does notconduct a more time-consuming reading of data from the larger memory orother data storage devices 218. In some instances, multi-tier ormultilevel caching, with different levels providing greater efficiencymay also be used.

The network interface or adapter 220 facilitates the communicationbetween the software servers via a network for remote processing orlinking with other remote systems.

The display device 222 serves to display any information or controlfunctions desired at the charging station. For example, the display 222may be used to display a graphical illustration of a relativeorientation of the truck with respect to the three-dimensional planes.

Referring now to FIG. 2B, the illustrated system 100 may be implementedin a distributed architecture, for example, in a cloud architecture,including mobile devices (“Mobile Device 1,” “Mobile Device 2,” and“Mobile Device N”), each with display, designated by reference numerals224, 226, and 228, respectively. Each mobile device is connected viaintegrated networks 230 (one or more networks connected for directinteraction and cloud connectivity) to the dynamic vehicle alignmentvisualization system (“API”) 232. In some embodiments, the dynamicvehicle alignment visualization system (“API”) 232 is configured toprovide a visual image and mapping of a charging station including itsworking envelope. As illustrated, the dynamic vehicle alignmentvisualization system (“API”) 232 is coupled to a vehiclecharging-central control 234 with memory 236, which serves to transmitand control information flow to the dynamic-vehicle alignmentvisualization system (“API”) 232. The vehicle charging central control234 is coupled to a database (one or more, in a single location,distributed, or in the cloud) with a charging-station mappingcoordinates engine designated by reference numeral 244 that stores datarepresenting a network of charging station locations, by defined area(e.g., city, county, or the like); mapping coordinates of each chargingstation, which may be provided to display on each of the mobile devices.Users bringing their vehicles for charging may easily align theirrespective vehicles guided by the dynamic vehicle alignmentvisualization system (“API”) 232 relative to the mapping coordinates ofeach charging station received on the user's device display. Forexample, the medium delivery truck 102 would receive an image andmapping coordinates for a charging station before driving in (either bysending a query before or upon sensing at the charging station that itis ready for positioning). The medium deliver truck 102 would positionfor receiving power at the EV-charging station, by driving into theworking envelope such that its side surface is aligned substantiallyparallel to a plane (e.g., 3D plane 2 in FIG. 1 ). Alternatively, anyother vehicle or object may be positioned in the charging areaillustrated. The vehicle typically has a charging receptacle 104 (FIG. 1) as illustrated in the medium delivery truck 102. The chargingreceptacle may be positioned anywhere in the vehicle and a charge isreceived by guiding the charging interface to the charging receptacle.The vehicle-charging central control 234 further receives, directs, andcontrols flow of data provided by vehicle vendors or manufacturers(e.g., vehicle vendor 1 designated by reference numeral 238, vehiclevendor 2 designated by reference numeral 240, through vehicle vendor Ndesignated by reference numeral 242). The data may represent vehiclespecifications including battery data, vehicle image, or a charge-portlocation to ease the charging process in the instant that the vehicleuser desires. The vehicle charging central control 234 as illustrated isfurther coupled to additional systems generally designated by referencenumeral 246.

Some portions of the detailed descriptions that follow are presented interms of algorithms and symbolic representations of operations on databits within a computer memory, such as those illustrated in FIG. 2A.These algorithmic descriptions and representations are the means used bythose knowledgeable in the data processing arts to most effectivelyconvey the substance of their work to others in the art. An algorithm ishere, and generally, conceived to be a self-consistent sequence of stepsleading to a desired result. The steps are those requiring physicalmanipulations of physical quantities. Usually, though not necessarily,these quantities take the form of electrical or magnetic signals capableof being stored, transferred, combined, compared, and otherwisemanipulated. It has proven convenient at times, principally for reasonsof common usage, to refer to these signals as bits, values, elements,symbols, characters, terms, numbers or the like.

It should be borne in mind, however, that all of these and similar termsare to be associated with the appropriate physical quantities and aremerely convenient labels applied to these quantities. Unlessspecifically stated otherwise, as apparent from the followingdiscussion, it is appreciated that throughout the description,discussions utilizing terms such as “processing” or “computing” or“calculating” or “determining” or “displaying” or the like, refer to theaction and processes of a computer system, or similar electroniccomputing device (such as or including the computer/processor 214), thatmanipulates and transforms data represented as physical (electronic)quantities within the computer system's registers and memories (such asor including the memory 216 and data storage 218) into other datasimilarly represented as physical quantities within the computer systemmemories or registers or other such information storage, transmission ordisplay devices.

In some embodiments, in operation, the supervisory-control module 206performs the functions described below with the other componentsdescribed. In other embodiments, additional functions may be included.Referring now to FIG. 3 , the operation flow is shown generally byreference numeral 300. The operation flow begins at block 302,representing one or more operations for detecting an object or thevehicle within the robotic range of movement. The charging-dock sensorsare positioned at strategic locations to detect the vehicle 102. Forexample, the supervisory-control module 206 calculates approximatepositioning (maximum specified positional offset of the vehicle to thethree-dimensional planes used by the active-alignment module 202 withinthe working envelope).

The operation flow 300 proceeds to the next block 304, representing oneor more operations configured to capture and relay object or vehiclepositional data and synchronize the planar position of the object orvehicle to the plane of the robotic-assist interface. For example, insome embodiments, the supervisory-control module 206 calculates andsends the final offsets of the stationary object or vehicle to a robotvia the robot-assisted-alignment model 208. The robot aligns its planardatums to the planar datums of the object or vehicle 102. It should berecognized by those skilled in the art that a planar datum is the truegeometric counterpart of a planar datum features. A true geometriccounterpart is the theoretical perfect boundary or best fit tangentplane of a specified datum feature. Datum planes are features used toprovide references for other features, like sketching planes,dimensioning references, view references, assembly references, and soon. Datum planes are not physical parts of the model here, but are usedto aid in model creation by the active-alignment module. A datum featurein this application is a perfect plane or surface, as defined by thethree-dimensional planes illustrated in FIG. 1 .

The operation flow 300 proceeds to the next block 306, representing oneor more operations configured to track and send absolute positionaloffsets to the object or vehicle operator or controller to makealignment adjustments in real time. For example, the supervisory-controlmodule 206 provides the final offsets of the stationary object orvehicle relative to the robot to the vehicle-control module 210 to makeadjustments in real time. Communications to operators of the vehicle 102by the vehicle-control module 210 are through electronic or visualcommands. Once the vehicle is within its specified position, thesupervisory-control module issues a “park” command.

The operation flow 300 proceeds to the next block 308, representing oneor more operations configured to verify the object/vehicle placement andalign local-charging interface to the object or vehicle receptacleinterface. For example, co-planar geometries and tolerances areadjustable as determined or required. The supervisory-control module 206continuously poles the active-alignment module 202, which monitors inreal time, the coplanarity to actively send positional data to thesupervisory controller robot for “on the fly” adjustments. Once thesupervisory-control module 206 realizes three-dimensional coplanarpositions, the robot sends a “cycle complete” command, thereby promptingthe supervisory-control module 206 to initiate the next sequence. Thesupervisory-control module 206 monitors and integrates any and allvehicle or object functions such as communications, inputs and outputsand other pertinent systems that are dependent on the relationship.

The operation flow 300 concludes with the next block 310, representingone or more operations configured to initiate pairing. For example, thesupervisory-control module 206 determines that the sequence of stepsperformed by the charging dock to position the object or vehicle iscomplete, at which point pairing is initiated.

Referring to FIG. 4 , a general operation flow of the modulefunctionalities for use with any object is shown generally at 400. Theprocess 400 begins at block 402, representing one or more operationsperformed by an object arrival sensing module (e.g., such as theactive-alignment module 202) that detects the object's arrival withinrobotic range of movement. The process 400 continues to block 404representing one or more operations performed by an object positioningmodule (e.g., such as the supervisory-control module 206 androbot-assisted-alignment module) that captures the object's positionaldata and aligns the charging interface to object receptacle interface bymeasurement of multiple three-dimensional planes. The process 400concludes with block 406 representing one or more operations performedby an object charging module (e.g., vehicle control module) thatinitiates charging until complete.

Referring to FIG. 5 , the operations flow that identifies a vehiclewithin a working envelope, positions it, connects the charging interfaceand initiates and completes charging of the electric vehicle is showngenerally at 500. The process flow 500 begins at block 502, representingone or more operations for identifying the object or vehicle in the workenvelope. The process flow 500 continues to block 504, representing oneor more operations for locating an object or vehicle. The process flow500 continues to block 506 representing one or more operations forconnecting the charging interface with the object or vehicle. Theprocess 500 continues to block 508 representing one or more operationsfor automating the object or vehicle's positioning. The process flow 500continues to block 510 representing one or more operations forinitiating pairing and charging of the object or vehicle. The processflow 500 concludes with block 512 representing one or more operationsfor detecting charging completion.

Referring now to FIG. 6 , the operations flow and steps involved inpositioning and adjusting the object/vehicle within the chargingenvelope before charging is shown generally at 600. The process flow 600begins at block 602, representing one or more operations for computingthe approximate positioning of the object or vehicle and determining themaximum specified positional offset of the object or vehicle to theactive-alignment module 202 (“AAM”) within the work envelope. Theprocess flow 600 continues to block 604, representing one or moreoperations for inputting the positional offset to the vehicle-controlmodule. The process flow 600 continues to block 606, representing one ormore operations for determining real-time adjustments necessary throughelectronic or visual commands. The process flow 600 continues to block608, representing one or more operations for determining that the objector vehicle is withing its specified position and activating thesupervisory-control module 206 (“SCM”) to issue a park command. Theprocess flow 600 continues to block 610, representing one or moreoperations for computing and sending the final offsets of the stationaryobject or vehicle to the robot.

FIG. 7 continues the operation flow shown generally at 600, asillustrated by flow connector “A” shown at the end of the flow chart inFIG. 6 and the beginning of the flow chart in FIG. 7 . The process flow600 continues at block 702, representing one or more operations forprogramming the robot to align its planar datums to the planar datums ofthe object or vehicle. The process flow 600 continues at block 704,representing one or more operations for adjusting co-planar geometriesand tolerances based on requirements. The process 600 continues at block706, representing one or more operations for determining when thethree-dimensional co-planar positions are realized and programming therobot to send a “cycle complete” command. The process 600 continues atblock 708, representing one or more operations for initiating a commandto prompt the supervisory-control module 206 to initiate the nextsequence, which initiates pairing or ensuring that the dock sequence iscomplete. The process 600 continues at block 710, representing one ormore operations for continuously polling the active-alignment module 202with the command that prompts the supervisory-control module 206. Theprocess 600 continues at block 712, representing one or more operationsfor programming the active-alignment module 202 to monitor thecoplanarity in real time, to actively send positional data to thesupervisory-control module 206 for spontaneous and instant adjustments.The process 600 concludes with block 702, representing one or moreoperations for integrating and monitoring the object or vehicle'sfunctions including communications, inputs and outputs, and otherpertinent systems that are dependent on the relationship.

The foregoing description of the embodiments of the present inventionhas been presented for the purposes of illustration and description. Itis not intended to be exhaustive or to limit the present invention tothe precise form disclosed. Many modifications and variations arepossible in light of the above teaching. It is intended that the scopeof the present inventive technology be limited not by this detaileddescription, but rather by the claims of this application. As will beunderstood by those familiar with the art, the present inventivetechnology may be embodied in other specific forms without departingfrom the spirit or essential characteristics thereof. Likewise, theparticular naming and division of the modules, routines, features,attributes, methodologies and other aspects are not mandatory orsignificant, and the mechanisms that implement the present inventivetechnology or its features may have different names, divisions and/orformats. Furthermore, as will be apparent to one of ordinary skill inthe relevant art, the modules, routines, features, attributes,methodologies and other aspects of the present inventive technology canbe implemented as software, hardware, firmware or any combination of thethree. Also, wherever a component, an example of which is a module, ofthe present inventive technology is implemented as software, thecomponent can be implemented as a standalone program, as part of alarger program, as a plurality of separate programs, as a statically ordynamically linked library, as a kernel loadable module, as a devicedriver, and/or in every and any other way known now or in the future tothose of ordinary skill in the art of computer programming.Additionally, the present invention is in no way limited toimplementation in any specific programming language, or for any specificoperating system or environment. Accordingly, the disclosure of thepresent inventive technology is intended to be illustrative, but notlimiting, of the scope of the present invention, which is set forth inthe following claims.

What is claimed is:
 1. A method for providing electric charge to anelectric vehicle, comprising: using a sensor to capture positioning ofthe electric vehicle near a power source for providing electric charge;aligning the power source with a connector and providing the electriccharge when the connector couples to the electric vehicle; automatingaction by a robot coupled to a robotic interface to couple the connectorof the power source to the electric vehicle, wherein the roboticinterface defines a range of movement within which the robot is operableto take an action; controlling the robot and the power source, by aprocessor and a memory with executable code configured to drive theprocessor to take control actions, comprising: receiving a signal fromthe sensor that the electric vehicle is within a defined area relativeto the power source within which the robot is operable to take action tocouple the connector; signaling an instruction to the robotic interfaceto automate the robot to move within the predefined area and couple theconnector of the power source to the electric vehicle, wherein theprocessor calculates a positional offset of the electric vehicle to anactive-alignment configuration; issuing a confirmation command to therobot, responsive to which the robot moves within the defined area andcouples the connector to the electric vehicle; and initiating, by acharging interface coupled to the processor, responsive to theconfirmation command, pairing of the electric vehicle to the powersource to begin charging, wherein the robot aligns the connector to areceptacle of the electric vehicle.
 2. The method according to claim 1,further comprising: providing dynamic vehicle alignment visualizationvia an application programming interface, wherein a visual image isprovided on a mobile device coupled to the processor, showing mapping ofthe charging station including the range of motion within which therobot is operable.
 3. The method according to claim 2, furthercomprising: providing mapping coordinates of a charging station with thepower source within the application programming interface to the mobiledevice.
 4. The method according to claim 3, further comprising:aligning, by the robotic interface, planar datums of the robot to theplanar datums of the electric vehicle.
 5. The method according to claim4, wherein upon determining that the aligning is complete, by therobotic interface, sending a command indicating that a first cycle iscompleted and prompting initiation of charging from said power source.6. The method according to claim 3, further comprising: providing datarepresenting a network of charging station locations, by defined area;and mapping coordinates of each charging station to display the mobiledevice.
 7. The method according to claim 1, wherein the defined area isat least one of a city or county.
 8. The method according to claim 1,wherein the sensor is a radar sensor.
 9. The method according to claim1, wherein the receptacle in the electric vehicle receives a charge viaan electrical connection established between the electric vehicle andthe connector coupled to the power source.
 10. The method according toclaim 1, wherein charging data is provided to a data storage coupled tothe processor.
 11. A charging system providing electric charge to anelectric vehicle, comprising: a power source; a sensor configured tocapture positioning of the electric vehicle near the power source forproviding electric charge; a connector connectable to the power sourceand aligning the power source to the electric vehicle and providing theelectric charge when the connector couples to the electric vehicle; arobot, coupled to a robotic interface to couple the connector of thepower source to the electric vehicle, wherein the robotic interfacedefines a range of movement within which the robot is operable to takean action; a processor controlling the robot and the power source; amemory with executable code configured to drive the processor to takecontrol actions, including a first action that receives a signal fromthe sensor that the electric vehicle is within a defined area relativeto the power source within which the robot is operable to take action tocouple the connector, a second action that signals an instruction to therobotic interface to automate the robot to move within the predefinedarea and couple the connector of the power source to the electricvehicle, wherein the processor calculates a positional offset of theelectric vehicle to an active-alignment configuration, a third actionthat issues a confirmation command to the robot, responsive to which therobot moves within the defined area and couples the connector to theelectric vehicle, and a fourth action that initiates, responsive to theconfirmation command, pairing of the electric vehicle to the powersource to begin charging, wherein the robot aligns the connector to areceptacle of the electric vehicle.
 12. The charging system according toclaim 11, further comprising: a dynamic vehicle alignment visualizationsystem coupled to a mobile device by an application programminginterface coupled to the processor, wherein a visual image is providedon the mobile device, showing mapping of the charging station includingthe range of motion within which the robot is operable.
 13. The chargingsystem according to claim 12, further comprising: an engine executed bythe processor mapping coordinates of a particular charging station withthe power source within the application programming interface to themobile device.
 14. The charging system according to claim 13, whereinthe robotic interface aligns planar datums of the robot to the planardatums of the electric vehicle.
 15. The charging system according toclaim 14, wherein the processor determines when the aligning iscomplete, by the robotic interface, and sends a command indicating thata first cycle is completed and prompts initiation of charging from thepower source.
 16. The charging system according to claim 13, wherein theprocessor provides data representing a network of charging stationlocations, by defined area and mapping coordinates of each chargingstation for display on the mobile device.
 17. The charging systemaccording to claim 13, wherein the defined area is at least one of acity or county.
 18. The charging system according to claim 13, whereinthe sensor is a radar sensor.
 19. The charging system according to claim13, wherein the receptacle in the electric vehicle receives a charge viaan electrical connection established between the electric vehicle andthe connector coupled to the power source.
 20. The charging systemaccording to claim 13, wherein charging data is provided to a datastorage coupled to the processor.